Power grasp is a grasp that can hold objects stably without changing the joint torques of fingers. Almost all studies on power grasp deal with one object. But it is more efficient to hold and manipulate multiple objects at the same time. This paper derives a condition for power grasp for multiple objects. In this procedure, we discuss the set of the external force that can be resisted by only the constraints between objects. From the discussion, we derive the set of the external force that should really be resisted. We also define an optimal power grasp from the viewpoint of decreasing the work of joint torques, and derive the procedure. Lastly, we show some numerical examples to verify the validity of our approach.
- 日本機械学会論文集. C編
日本機械学会論文集. C編 68(668), 1223-1230, 2002-04-25